Please someone guide me in doing Benchmarking using MoveIt. I followed http://moveit.ros.org/wiki/Benchmarking But it doesn't seem to work or I don't know whether I am doing it wrong. I ran **few launch files** in the order as below:
- roslaunch pr2_moveit_config
warehouse.launch
moveit_warehouse_database_path:=~/home/user/moveit_db
- roslaunch pr2_moveit_config
planning_context.launch
load_robot_description:=true
- rosrun
moveit_ros_warehouse
moveit_warehouse_import_from_text
--host 127.0.0.1 --port 33829 --scene industrial.scene
- rosrun
moveit_ros_warehouse
moveit_warehouse_import_from_text
--host 127.0.0.1 --port 33829 --queries industrial.queries
- roslaunch pr2_moveit_config
demo.launch
- roslaunch
pr2_moveit_config
run_benchmark_ompl.launch cfg:=~/home/user/config.cfg
**My config file:**
[scene]
name=industrial
output=/home/shameer/bench.log
runs=2
[plugin]
name=ompl_interface/OMPLPlanner
planners=KPIECEkConfigDefault RRTConnectkConfigDefault
runs=10
**I get the following message. But it is not producing any log file as output**
[ INFO] [1434026950.772445563]: Available planner instances: ompl_interface/OMPLPlanner
[ INFO] [1434026950.772514686]: Loading '/home/shameer/config1.cfg'...
Calling benchmark with options:
Benchmark for scene 'industrial' to be saved at location '/home/shameer/bench.log'
Planning requests associated to the scene that match '.*' will be evaluated
Plugins:
* name: ompl_interface/OMPLPlanner (to be run 10 times for each planner)
* planners: KPIECEkConfigDefault RRTConnectkConfigDefault
[ INFO] [1434026950.773733987]: No specified start state. Running benchmark once with the default start state.
[ INFO] [1434026950.773875226]: Processed 1 benchmark configuration files
[ INFO] [1434026950.808466897]: Benchmarks complete! Shutting down ROS...
[moveit_benchmark_ubuntu_18404_3564111023615278738-2] process has finished cleanly
log file: /home/shameer/.ros/log/e71bbbc4-1035-11e5-88a5-685d43bbca7e/moveit_benchmark_ubuntu_18404_3564111023615278738-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
**So what should I do? what am I doing wrong?**
I have ROS Hydro and Ubuntu 12.04 64bit
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